Robotics (II): dynamic parameter identification

         The main content of this paper is to introduce a method of robot dynamic parameter identification , Take a two degree of freedom platform as an example , The theoretical derivation process is introduced , Just get the joint angle and estimate the torque , The dynamic parameters of the robot can be identified . This method can also be easily applied to higher dimensional robots .

         Anyone who has experience in robot control engineering knows , How important the dynamic parameters of the robot are to improve the performance of the control system . However , Usually we are based on robots 3D The dynamic parameters are obtained from the model , Often very imprecise . therefore , If the dynamic parameters of the actual robot can be identified by experiment , This will contribute to the design of control algorithm .

One 、 Dynamics

         Use a simple two degree of freedom machine connecting rod （ Pictured 1） To illustrate the whole identification process .

chart 1 Two degree of freedom robot

         Its dynamic equation can be written as ：

            (1)

         In the above formula